CN104711912B - A kind of high-speed railway mileage is to mark method - Google Patents

Abstract

The invention belongs to high speed railway track detection field, relate to a kind of high-speed railway mileage to mark method.The present invention comprises the following steps: 1.1) mileage gauge data acquisition and procession；1.2) initial mileage collection；1.3) mileage calculation；1.4) satellite data acquisition；1.5) orbit coordinate mileage database data acquisition；1.6) mark is revised by mileage.Present invention employs high-resolution photoelectricity mileage gauge and high-precision difference combinations of satellites location technology, realize the high-speed railway mileage positioning precision in multiple conditions such as main track, bridge, tunnels and be better than 0.1m, less than sleeper laying spacing 0.625m, rail fault can be pin-pointed to concrete sleeper, improve maintenance conditions work efficiency.

Description

A kind of high-speed railway mileage is to mark method

Technical field

The invention belongs to high speed railway track detection field, relate to a kind of high-speed railway mileage to mark Method.

Background technology

In high speed railway track construction, maintenance process, it is often necessary to orbit parameter is surveyed Amount, safeguards track according to measurement result, and orbit parameter relies on accurate mileage letter Breath.Existing mileage localization method mostly is satellite fix, mileometer is measured and artificial to mark method, Wherein satellite positioning method many employings single-point GPS, mileometer resolution mostly be hundreds of pulse/turn, Manually the response speed of mark with operator there is substantial connection.Above-mentioned mileage positioning method accuracy It mostly is meter level, it is impossible to meet the requirement navigating to concrete sleeper.

Summary of the invention

The technical problem to be solved is: provide a kind of based on high-precision difference GPS Alignment system, rail control network mark acquisition device and the high accuracy of high-resolution photoelectricity mileage gauge Mileage localization method.

The technical scheme that the present invention takes is: a kind of high-speed railway mileage is to mark method, its feature For said method comprising the steps of:

1.1) mileage gauge data acquisition and procession:

Installing a high-resolution photoelectricity mileage gauge outside railcar wheel shaft, mileage gauge is by fixing Frequency sends accumulated pulse number to industrial computer, records i moment accumulated pulse number N_i；

1.2) initial mileage collection:

By high ferro Controling network mark acquisition device, through first control after acquisition vehicle launch The time scale information in network mark will moment, and then obtain the mileage L that Controling network mark is corresponding₀And mileage gauge Corresponding umber of pulse is N₀, in this, as initial mileage and umber of pulse；

1.3) mileage calculation:

1.3.1) mileage gauge calibration factor calculates:

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter is D rice, then calibration factor Value is:

$k=\frac{\mathrm{\π}D}{N}$

1.3.2) mileage calculation

Mileage value is:

L_i=L₀+k(N_i-N₀)

In formula:

K is calibration factor；

L₀For present segment initial mileage value；

N₀For present segment inceptive impulse number；

L_iFor i moment mileage value；

N_iAccumulated pulse number for the i moment；

1.4) satellite data acquisition:

1.4.1) satellite data receives:

Receiving satellite data by DVB, turnover rate is not less than 1Hz；

1.4.2) satellite data formedness judges:

DVB is according to the XYZ information set under renewal frequency output ECEF coordinate system； Often receive one group of satellite data, it is judged that satellite information formedness；When satellite in order time, note Record satellite data；The most not record；Satellite criterion in order is: satellite number NUM > n1, And positional precision degree of strength PDOP<n2, wherein, n1>=6, n2≤3；

1.4.3) satellite data record:

The railcar position of record i moment satellite fix is (X_i,Y_i,Z_i), the i that mileage gauge is corresponding The accumulated pulse number in moment is N_i, the i moment mileage value that mileage gauge is corresponding is L_i；

1.5) orbit coordinate-mileage database data acquisition:

In orbit coordinate-mileage database gatherer process, record i moment mileage gauge is corresponding Umber of pulse is N_DB,i, the mileage value that mileage gauge is corresponding is L_DB,i, the railcar position of satellite fix (X_DB,i,Y_DB,i,Z_DB,i)；

1.6) mark is revised by mileage:

1.6.1) treat mark data record:

At mileage in mark makeover process, record the accumulative of i moment corresponding to i moment mileage gauge Umber of pulse is N_i, the i moment mileage value that mileage gauge is corresponding is L_i, the track parking stall of satellite fix Put (X_M,i,Y_M,i,Z_M,i)；

1.6.2) data base is to mark data acquisition:

In orbit coordinate-mileage database, obtain and (X_M,i,Y_M,i,Z_M,i) closest two Point (X_DB,m,Y_DB,m,Z_DB,m) and (X_DB,n,Y_DB,n,Z_DB,n), and the mileage of correspondence and umber of pulse, respectively For L_DB,m、L_DB,n、N_DB,m、N_DB,n；

1.6.3) mileage is to mark:

On the basis of orbit coordinate, obtain the i moment to mark mileage L by interpolation_M,i, to mark arteries and veins Strokes per minute N_M,i；To mark mileage L_M,iWith i moment mileage value L_iError amount be

Δ L=| L_i-L_M,i|

When Δ L is more than a certain threshold value, it is believed that the bigger needs of current mileage error is revised, and resets Current mileage is L_M,i, present segment initial mileage value is L_M,i, inceptive impulse number is N_M,i；If Δ L is less than this threshold value, then it is assumed that need not revise.

The present invention has the advantage that and beneficial effect: present invention employs high-resolution photoelectricity mileage Instrument and high-precision difference combinations of satellites location technology, it is achieved multiple in main track, bridge, tunnel etc. The high-speed railway mileage positioning precision of condition is better than 0.1m, less than sleeper laying spacing 0.625m, Rail fault can be pin-pointed to concrete sleeper, improve maintenance conditions work efficiency.

Detailed description of the invention

Below the detailed description of the invention of the present invention is described further.

Present invention application in high speed railway track detection, fault location, should be equipped with high score Resolution photoelectricity mileage gauge, high-precision difference gps satellite receiver and high-speed railway rail Controling network mark Use in the railcar of acquisition device (number of patent application CN201110089812.4).Specifically Operating procedure is as follows:

Step 1: mileage gauge data acquisition and procession

Installing a high-resolution photoelectricity mileage gauge outside railcar wheel shaft, mileage gauge is by fixing Frequency sends accumulated pulse number, the accumulated pulse number N in record i moment to industrial computer_i。

Step 2: initial mileage collection

By high ferro Controling network mark acquisition device, can obtain after vehicle launch through first The time scale information in Controling network mark moment, and then obtain the mileage L that Controling network mark is corresponding₀With inner The umber of pulse that the gift of money for a friend going on a journey is corresponding is N₀, in this, as initial mileage and umber of pulse.

Step 3: mileage calculation

Step 3.1 mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter is D rice, then calibration factor Value is:

$k=\frac{\mathrm{\&pi;}D}{N}$

Step 3.2 mileage calculation

Mileage value is:

L_i=L₀+k(N_i-N₀)

In formula:

K is calibration factor

L₀For present segment initial mileage value

N₀For present segment inceptive impulse number

L_iFor i moment mileage value

N_iAccumulated pulse number for the i moment

Step 4: satellite data acquisition

Step 4.1 satellite data receives

Receiving satellite data by DVB, turnover rate is not less than 1Hz.

Step 4.2 satellite data formedness judges

DVB is according to the XYZ information set under renewal frequency output ECEF coordinate system. Often receive one group of satellite data, it is judged that satellite information formedness.When satellite in order time, note Record satellite data；The most not record.Satellite criterion in order is:

Satellite number NUM>n1, and positional precision degree of strength PDOP<n2

Wherein, n1 >=6, n2≤3.

Step 4.3 satellite data record:

The railcar position of record i moment satellite fix is (X_i,Y_i,Z_i), the i that mileage gauge is corresponding The accumulated pulse number in moment is N_i, the mileage value that mileage gauge is corresponding is L_i。

Step 5: orbit coordinate-mileage database data acquisition

In orbit coordinate-mileage database gatherer process, record i moment mileage gauge is corresponding Umber of pulse is N_DB,i, the mileage value that mileage gauge is corresponding is L_DB,i, the railcar position of satellite fix (X_DB,i,Y_DB,i,Z_DB,i)。

Step 6: mark is revised by mileage

Step 6.1 is treated mark data record

At mileage in mark makeover process, record the accumulative of i moment corresponding to i moment mileage gauge Umber of pulse is N_i, the i moment mileage value that mileage gauge is corresponding is L_i, the track parking stall of satellite fix Put (X_M,i,Y_M,i,Z_M,i)。

Step 6.2 data base is to mark data acquisition

In orbit coordinate-mileage database, obtain and (X_M,i,Y_M,i,Z_M,i) closest two Point (X_DB,m,Y_DB,m,Z_DB,m) and (X_DB,n,Y_DB,n,Z_DB,n), and the mileage of correspondence and umber of pulse, respectively For L_DB,m、L_DB,n、N_DB,m、N_DB,n。

Step 6.3 mileage is to mark

On the basis of orbit coordinate, obtain the i moment to mark mileage L by interpolation_M,i, to mark arteries and veins Strokes per minute N_M,i.To mark mileage L_M,iWith i moment mileage value L_iError amount be

Δ L=| L_i-L_M,i|

When Δ L is more than a certain threshold value, it is believed that the bigger needs of current mileage error is revised, and resets Current mileage is L_M,i, present segment initial mileage value is L_M,i, inceptive impulse number is N_M,i；If Δ L is less than this threshold value, then it is assumed that need not revise.

Embodiment

Step 1: mileage gauge data acquisition and procession

On the left of railcar outside certain wheel shaft install one 3600 pulses/turn high-resolution photoelectricity Mileage gauge, mileage gauge is pressed 200Hz frequency and is sent accumulated pulse number to industrial computer, records the i moment Accumulated pulse number N_i。

Step 2: initial mileage collection

By high ferro Controling network mark acquisition device, can obtain after vehicle launch through first The time scale information in Controling network mark moment, and then obtain the mileage L that Controling network mark is corresponding₀With inner The umber of pulse that the gift of money for a friend going on a journey is corresponding is N₀, in this, as initial mileage and umber of pulse.

Step 3: mileage calculation

Step 3.1 mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder be 3600 pulses/turn, wheel diameter is 0.915 meter, then carve Degree coefficient value is:

K=7.985 × 10^-4(m/^)

Step 3.2 mileage calculation

Mileage value is:

L_i=L₀+k(N_i-N₀)

In formula:

K is calibration factor

L₀For present segment initial mileage value

N₀For present segment inceptive impulse number

L_iFor i moment mileage value

N_iAccumulated pulse number for the i moment

Step 4: satellite data acquisition

Step 4.1 satellite data receives

Satellite data receives selects Psudo-carrier phase DGPS equipment, is received by DVB Satellite data, turnover rate is 1Hz.

Step 4.2 satellite data formedness judges

DVB exports the XYZ information under ECEF coordinate system with the renewal frequency of 1Hz. Every 1s receives one group of satellite data, it is judged that satellite information formedness.When satellite in order time, Record satellite data；The most not record.Satellite criterion in order is:

Satellite number NUM>6, and positional precision degree of strength PDOP<3.

Step 4.3 satellite data record:

The railcar position of record i moment satellite fix is (X_i,Y_i,Z_i), the i that mileage gauge is corresponding The accumulated pulse number in moment is N_i, the i moment mileage value that mileage gauge is corresponding is L_i。

Step 5: orbit coordinate-mileage database data acquisition

In orbit coordinate-mileage database gatherer process, record i moment mileage gauge is corresponding Umber of pulse is N_DB,i, the mileage value that mileage gauge is corresponding is L_DB,i, the railcar position of satellite fix (X_DB,i,Y_DB,i,Z_DB,i)。

Step 6: mark is revised by mileage

Step 6.1 is treated mark data record

At mileage in mark makeover process, record the accumulative of i moment corresponding to i moment mileage gauge Umber of pulse is N_i, the i moment mileage value that mileage gauge is corresponding is L_i, the track parking stall of satellite fix Put (X_M,i,Y_M,i,Z_M,i)。

Step 6.2 data base is to mark data acquisition

In orbit coordinate-mileage database, on the basis of coordinate, calculate Euclidean distance, obtain With (X_M,i,Y_M,i,Z_M,i) closest two point (X_DB,m,Y_DB,m,Z_DB,m) and (X_DB,n,Y_DB,n,Z_DB,n), 2 are arrived (X_M,i,Y_M,i,Z_M,i) distance be respectively as follows:

$d_m=\sqrt{{(X_{M,i}-X_{DB,m})}^2+{(Y_{M,i}-Y_{DB,m})}^2+{(Z_{M,i}-Z_{DB,m})}^2}$

$d_n=\sqrt{{(X_{M,i}-X_{DB,n})}^2+{(Y_{M,i}-Y_{DB,n})}^2+{(Z_{M,i}-Z_{DB,n})}^2}$

Corresponding mileage and umber of pulse, respectively L_DB,m、L_DB,n、N_DB,m、N_DB,n。

Step 6.3 mileage is to mark

On the basis of orbit coordinate, obtain the i moment to mark mileage L by interpolation_M,i, to mark arteries and veins Strokes per minute N_M,i.Wherein:

$L_{M,i}=\frac{d_n}{d_m+d_n}*L_{DB,m}+\frac{d_m}{d_m+d_n}*L_{DB,n}$

$N_{M,i}=\frac{d_n}{d_m+d_n}*N_{DB,m}+\frac{d_m}{d_m+d_n}*N_{DB,n}$

To mark mileage L_M,iWith i moment mileage value L_iError amount be

Δ L=| L_i-L_M,i|

When Δ L is more than a certain threshold value, it is believed that the bigger needs of current mileage error is revised, and resets Current mileage is L_M,i, present segment initial mileage value is L_M,i, inceptive impulse number is N_M,i；If Δ L is less than this threshold value, then it is assumed that need not revise.

So far, calculated the mileage information of high-speed railway, and complete orbit coordinate with Mileage information to mark work.

Claims (1)

1. high-speed railway mileage is to a mark method, it is characterized by that described method includes following step Rapid:

1.1) mileage gauge data acquisition and procession:

Installing a high-resolution photoelectricity mileage gauge outside railcar wheel shaft, mileage gauge is by fixing Frequency sends accumulated pulse number, the accumulated pulse number N in record i moment to industrial computer_i；

1.2) initial mileage collection:

By high ferro Controling network mark acquisition device, through first control after acquisition vehicle launch The time scale information in network mark will moment, and then obtain the mileage L that Controling network mark is corresponding₀And mileage gauge Corresponding umber of pulse is N₀, in this, as initial mileage and umber of pulse；

1.3) mileage calculation:

1.3.1) mileage gauge calibration factor calculates:

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter is D rice, then calibration factor Value is:

$k=\frac{\mathrm{\&pi;}D}{N}$

1.3.2) mileage calculation

Mileage value is:

L_i=L₀+k(N_i-N₀)

In formula:

K is calibration factor；

L₀For present segment initial mileage value；

N₀For present segment inceptive impulse number；

L_iFor i moment mileage value；

N_iAccumulated pulse number for the i moment；

1.4) satellite data acquisition:

1.4.1) satellite data receives:

Receiving satellite data by DVB, turnover rate is not less than 1Hz；

1.4.2) satellite data formedness judges:

DVB is according to the XYZ information set under renewal frequency output ECEF coordinate system； Often receive one group of satellite data, it is judged that satellite information formedness；When satellite in order time, note Record satellite data；The most not record；Satellite criterion in order is: satellite number NUM > n1, And positional precision degree of strength PDOP<n2, wherein, n1>=6, n2≤3；

1.4.3) satellite data record:

The railcar position of record i moment satellite fix is (X_i,Y_i,Z_i), the i that mileage gauge is corresponding The accumulated pulse number in moment is N_i, the i moment mileage value that mileage gauge is corresponding is L_i；

1.5) orbit coordinate-mileage database data acquisition:

In orbit coordinate-mileage database gatherer process, record i moment mileage gauge is corresponding Umber of pulse is N_DB,i, the mileage value that mileage gauge is corresponding is L_DB,i, the railcar position of satellite fix (X_DB,i,Y_DB,i,Z_DB,i)；

1.6) mark is revised by mileage:

1.6.1) treat mark data record:

At mileage in mark makeover process, record the accumulative of i moment corresponding to i moment mileage gauge Umber of pulse is N_i, the i moment mileage value that mileage gauge is corresponding is L_i, the track parking stall of satellite fix Put (X_M,i,Y_M,i,Z_M,i)；

1.6.2) data base is to mark data acquisition:

In orbit coordinate-mileage database, obtain and (X_M,i,Y_M,i,Z_M,i) closest two Point (X_DB,m,Y_DB,m,Z_DB,m) and (X_DB,n,Y_DB,n,Z_DB,n), and the mileage of correspondence and umber of pulse, respectively For L_DB,m、L_DB,n、N_DB,m、N_DB,n；

1.6.3) mileage is to mark:

On the basis of orbit coordinate, obtain the i moment to mark mileage L by interpolation_M,i, to mark arteries and veins Strokes per minute N_M,i；To mark mileage L_M,iWith i moment mileage value L_iError amount be

Δ L=| L_i-L_M,i|

When Δ L is more than a certain threshold value, it is believed that the bigger needs of current mileage error is revised, and resets Current mileage is L_M,i, present segment initial mileage value is L_M,i, inceptive impulse number is N_M,i；If Δ L is less than this threshold value, then it is assumed that need not revise.